PROBLEM TO BE SOLVED: To improve object detection performance.SOLUTION: An object detection apparatus includes: a flow derivation section that derives an optical flow, on the basis of a feature point in a captured image obtained periodically by a camera which captures an image around a vehicle; an object detection section that detects an object, on the basis of the optical flow; a signal receiving section that acquires a speed of the vehicle (step S11); and a parameter setting section that sets a feature point parameter relating to the number of feature points, according to the speed of the vehicle (Steps S13, S14). Object detection sensitivity can be appropriately adjusted in accordance with the speed of the vehicle, thereby improving object detection performance of the object detection apparatus.SELECTED DRAWING: Figure 11
【課題】物体の検出性能を向上する。【解決手段】物体検出装置においては、フロー導出部が自車両の周辺を撮影するカメラで周期的に得られる撮影画像の特徴点に基づいてオプティカルフローを導出し、物体検出部がオプティカルフローに基づいて物体を検出する。また、信号受信部が自車両の速度を取得し(ステップS11)、パラメータ設定部が自車両の速度に応じて特徴点の数に関わる特徴点パラメータを設定する(ステップS13,S14)。このため、自車両の速度に応じて物体の検出感度を適切に調整することができ、物体検出装置の物体の検出性能を向上できる。【選択図】図11
OBJECT DETECTION APPARATUS, OBJECT DETECTION SYSTEM, OBJECT DETECTION METHOD, AND PROGRAM
物体検出装置、物体検出システム、物体検出方法及びプログラム
23.06.2016
Patent
Elektronische Ressource
Japanisch
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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